WO2004013022A1

WO2004013022A1 - Shelving system

Info

Publication number: WO2004013022A1
Application number: PCT/JP2003/009356
Authority: WO
Inventors: Joji Hatanaka
Original assignee: Daifuku Co., Ltd.
Priority date: 2002-08-01
Filing date: 2003-07-23
Publication date: 2004-02-12
Also published as: CN100524134C; CN1671607A; US7261210B2; KR20050023414A; AU2003248094A1; TW200404723A; TWI246982B; KR100981074B1; US20050224427A1

Abstract

A shelving system comprising a plurality of movable shelves (1) installed for back-and-forth movement on a travel path through a travel support device, so as to handle articles with respect to the movable shelves (1) opposed to a working aisle (S) by using the working aisle (S) opened between the movable shelves (1), wherein each movable shelf (1) is provided with a pair of movement detectors (19) disposed in a left-right direction B at right angles with the direction of travel (A) of the movable shelves (1). The absolute coordinates of each movement detector (19) are found on the basis of detection signals from the pair of movement detectors (19) of each of these movable shelves (1). And the amount of left-right direction (B) deviation from the travel path (i) of the movable shelves (1) is corrected on the basis of the amount of deviation of the absolute coordinates in the left-right direction (B). Further, the attitude of the movable shelves (1) is corrected so as to be at right angles with the travel direction (A) on the basis of the positional deviation of the absolute coordinates in the travel direction (A), i.e., on the basis of traveled distance deviation.

Description

Compile

Leakage field

Light

The present invention relates to a shelf facility having a plurality of moving shelves.

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», The following configurations are provided for this type of shelf equipment. A fixed traveling and crane are set in the space in the warehouse or office, and a plurality of shelves (moving shelves) that can reciprocate are arranged on each of the constant running keys leaving a space for the work passage, and work is carried between the moving shelves. When a passage is needed, a button indicating the necessary work is provided, for example, on a movable shelf facing the work passage, and the width of the work passage is set between the movable shelves designated in accordance with the operation of this button. Until, one or more movable shelves are configured to travel along the fixed traveling route by themselves. An operator or a cargo handling vehicle (for example, a forklift) enters the light shed that is opened between the moving shelves, and articles are handled on the moving shelves facing the work passage. When the movable shelf moves by itself, width deviation correction control is executed so that the movable shelf can move along each traveling line. For example, in Japanese Patent Application Laid-Open No. 2000-2004-9222, a position reference member (for example, a magnetic step :) is located along the travel route, and the position reference member is placed in a gaggle position. By detecting each moving shelf with a position detector (for example, a magnetic sensor), the deviation of the moving shelf from the traveling path is detected, and by correcting the detected deviation, the moving shelf moves along each traveling line. I am able to move.

In addition, when the mobile shelf is self-propelled, attitude control is performed so that the attitude of the mobile shelf is vertical in a direction perpendicular to the running fiber. For example, in Japanese Patent Application Laid-Open No. 2000-48083, the moving distances of both ends in the left-right direction perpendicular to the traveling direction of the moving shelf are determined by the pulse of the pulse encoder connected to the traveling wheel of the moving shelf. The moving shelf is maintained in the direction perpendicular to the traveling and crane so as to eliminate the difference in the moving distance between these two ends.

In the conventional configuration described above, in order to realize a shelf facility capable of executing both the width deviation correction control and the attitude control when the movable shelf is self-propelled, the position reference member (a magnetic tape is laid and each movable shelf is laid). In addition to installing a position detector (magnetic sensor) to detect this position and sound, two pulse encoders are provided on each moving shelf to make the posture of the moving shelf clear in a direction perpendicular to the traveling path. In addition, there is a problem that the moving shelf is inclined, and the moving shelf moves inclining in the case where the above-mentioned position horn is attached and the removed position detector and the pulse encoder are provided. At this time, since the vehicle or the arc of the noise encoder draws an arc, an error occurs between the moving distance at both ends and the moving distance in the actual traveling direction, so that accurate attitude control of the moving shelf cannot be performed. Was. Further, when the movable rack is tilted, is detected by the tree ϋ insects position detector, that also an error occurs travel Satoshi movement distance of each A perpendicular direction, there is a problem. Therefore, it is an object of the present invention to provide a shelf facility that can accurately execute width shift correction control and force control of a moving shelf and further reduce costs. Disclosure of the invention

The present invention relates to a moving shelf which is provided with a number of movable shelves which can be reciprocated on a traveling device via a traveling temple device and which is opened between the moving shelves. A shelf facility for handling goods, which is not required.3 Knitting of each moving shelf.3 Traveling, the traveling distance in the traveling direction and the lateral movement in the left and right direction perpendicular to the traveling direction along the crane. A pair of movement detecting means for detecting the distance is provided, and a control means for controlling the knitting movement shelf is provided.

The control means obtains the yarn coordinates of each of the disgusting transfer means from the moving distance in the running direction and the moving distance in the left and right direction, which have been extracted by the respective movement detecting means, and based on these ¾ coordinates. Correct the deviation in the left: ^ direction from the traveling fibers of the disgusting 3 moving shelves due to the movement of the disgusting moving shelves (by executing the width deviation correction control), and adjust the position of these thread size coordinates in the running direction. Based on this, the posture of the moving shelf is corrected so as to be in a direction perpendicular to the traveling direction (the posture control is executed. According to the above configuration, the width deviation correction control and the posture control of the moving shelf can be executed accurately. The detection means for executing the width shift correction control and the attitude control of the moving shelf need only be a pair of movement detecting means, and the cost is reduced.

Further, the movement detecting means of the present invention comprises means and an imaging means, and is provided from the viewing means to the floor surface. Light that is irradiated obliquely and reflected from the floor surface is received by the imaging means, and a fine projection or recess on the floor surface is imaged. Thereby, the movement of the position of the minute protrusion or recess on the floor surface that has been imaged (by the 5! Giant food escape means) is also obtained, and the movement distance in the running direction per unit time and the movement distance in the left-right direction are obtained.

Further, the movement detecting means of the present invention includes a detecting means and an adjusting means in addition to the above means and the imaging means. The illuminance on the floor surface is detected by the leaking means. If the illuminance on the floor surface changes, the change is detected by the return means, and the detected illuminance on the floor surface is input to the adjustment means. Then, the jealousy of the light irradiated by the means is adjusted based on the illuminance on the floor surface detected by the adjusting means, and the intensity of the light received by the imaging means is kept constant. As a result, the illuminance (brightness and darkness) of the minute protrusion or recess on the floor from which the imaging means erode is kept constant, and the minute protrusion or recess on the floor may be discriminated or not distinguished by the brightness. Is avoided and the detection error is reduced.

Further, in the moving and eating means of the present invention, the S¾ means and the imaging means are arranged such that the light radiated obliquely to the floor surface by the means is reflected by the floor surface at approximately 90 degrees and received by the imaging means. Has been done. As a result, the light reflected on the floor is most efficiently transmitted to the imaging means, and the difference between the light used for the imaging means and the light directed toward the imaging means due to the minute projections or recesses on the floor is different. The accuracy of detecting fine protrusions or recesses on the floor surface is improved.

Moreover, in the movement detecting means of the present invention, the means are arranged so that the direction of the light emitted by the S3 means coincides with the traveling direction of the moving shelf, and the fine projection of the floor surface is made along the traveling direction of the moving shelf. Parts or recesses are continuously detected. This makes it possible to detect the travel distance in the traveling direction. Become smooth. BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a diagram showing the rights of shelf equipment according to an embodiment of the present invention,

Figure 2 is a front view of the shelf equipment,

Fig. 3 is a partial plan view of the moving shelf of the shelf equipment,

Figure 4 is a partially cutaway plan view of the main part of the moving shelf of the shelf equipment,

Fig. 5 is a side view of the traveling driving means and moving means of the moving shelf of the shelf equipment. Fig. 6 is a circuit configuration diagram of the shelf equipment.

Figure 7 is an explanatory diagram of the movement detector of the shelf equipment,

Fig. 8 is a control block diagram of the controller of each moving shelf of the shelf equipment,

Fig. 9 is a control block diagram of the controller of each moving shelf of the shelf equipment,

FIG. 10 is a control block diagram of a controller of each moving shelf of the shelf equipment. BEST MODE FOR CARRYING OUT THE INVENTION

In order to make the present invention more detailed, this will be described with reference to the drawings of the drawings.

FIG. 1 is a perspective view of the shelf equipment according to the embodiment of the present invention, FIG. 2 is a front view of a movable shelf of the shelf equipment, FIG. 3 is a plan view of a movable shelf of the shelf equipment, and FIG. FIG. 5 is a side view of a traveling support device and a motion detector part of the movable shelf of the shelf equipment, with a partial cutaway of a main part of the movable shelf. In FIGS. 1 to 5, a railless rail that allows the floor 2 to freely reciprocate along the fixed traveling fiber i via the traveling temple device () is used. A plurality (three in the figure) is installed on the floor 2. In addition, fixed shelves 5 are arranged on both sides of the traveling shelf i group in the direction of travel i (hereinafter referred to as the “barley direction”) to secure an open work passage S.

Now, the multiple moving shelves 1 are referred to as Νο. 1 moving shelves 1, No. 2 moving shelves 1, No. 3 moving shelves 1 in the direction of bulging A from the rear toward Ιίί ^. . Then, the passage number of each S for work that is opened between the rear fixed shelf 5 and the moving shelf 1 of No. 1 is "1", and between the moving shelf 1 of No • 1 and No. 2 The passage number of the work passage S to be opened to "2", and the passage number of the work male S to be opened between the moving shelves 1 of No. 2 and No. 3 to "3", No. 3 The pass number of the work passage S opened between the moving shelf 1 and the fixed shelf 5 is "4". Each of the movable shelves 1 and each of the fixed shelves 5 has a plurality of struts 11 and a plurality of front and rear frames 12 which are tied at predetermined intervals in the vertical direction across the respective struts 11, A plurality of left and right frames 13, which are connected to a direction perpendicular to the traveling S & i (hereinafter, referred to as a left and right direction) B across each of the front and rear frames 13, are formed on a pallet P on which articles F are placed, and are formed. I have. Further, a plurality of article storage sections 14 are formed in the upper and lower directions and the left and right directions B by the plurality of columns 11, the wheat frame 12, and the left and right frames 13. The worker uses the work passage S which is opened between the movable shelves 1 or between the movable shelves 1 and the front and rear fixed shelves 5 and collects the goods in the movable shelves 1 or the movable shelves 5 facing the work passage S. Pallet P loaded with goods F is handled by cargo handling vehicle G such as a forklift for part 14. Each of the movable shelves 1 is provided with a traveling portion (lower frame portion) 15 that travels while traveling through the plurality of article storage portions 14. The traveling section 15 includes a lower frame 18, a traveling temple device supported by the lower frame 18, and a self-positioning device at both ends in the left-right direction B at the center of the moving shelf 1 in the front-rear direction A. It is composed of two movement detectors (an example of transfer and feeding means) 19 consisting of an optical mouse encoder mounted on the lower frame 18.

As shown in FIGS. 3 to 5, the lower frame 18 is provided with lower side frames 18 a located on the left and right sides with respect to the forward direction A of the movable shelf 1, and the inner frame 5 of the movable shelf 1. Middle lower frame 18b located at a plurality of locations (multiple locations), and four connecting members 18c in the horizontal direction B connected between the lower side frame 18a and the lower intermediate frame 18b. It is formed in a rectangular frame shape by a longitudinal bridging member 18d disposed at a plurality of places between the connecting members 18c and a plurality of braces 18e. Each of the lower side frame 18a and the lower intermediate frame 18b is formed into a gate-shaped material having an open lower surface by a pair of side plates and an upper plate connected between upper ends of both side plates. Have been. The cross sections of the connecting member 18c and the bridging member 18d are formed in a rectangular tubular shape.

The struts 11 are provided on the left and right side lower frames 18a and the middle lower frames 18b at the five inner sides, each of which has four posts (a total of 28 posts). The spaces are connected in the front-rear direction A by sub-beams 16 (Fig. 5).

Travel] 命 | Life 20 is provided as the traveling ¾f device at six locations (plural locations) in the left-right direction B and at two locations (plural locations) in the front-rear direction A along the traveling route i. The running body 20 is composed of an inner ring 20 p made of metal and an outer ring made of hard rubber. The vehicle 20r is formed on the floor 2 via the outer ring body 20r. In addition, traveling two (at least one) each at both ends in the left direction B; * | The life is provided directly on the lower frame 18 via the interlocking vehicle 21 on the ^ Q axis 20 Q By being linked to the traveling horse sleeping means 23, the driving traveling life is 2 OA. Each of the running asleep means 23 is composed of an induction ltl¾ type motor 24 and a speed reducer 25 linked to the motor shaft.

Also, on the support 11 on the left side lower frame 18a, a surface (hereinafter referred to as a side) facing the work 舰 S is provided with a movable shelf 1 facing the movable shelf 1 or a fixed shelf. (5) Reflection for detecting and detecting each other and laih approaching each other.) An approach detector consisting of an electric switch (an example of a string detecting means) 31 force S is provided. The approach detectors 31 are provided at two locations in the front-rear direction A of the moving shelf 1 of No. 1 and at one front of the moving shelves 1 of Nos. 2 and 3.

An operating panel 33 is provided on a surface (hereinafter referred to as a front surface) formed by the plurality of columns 11 on the left lower frame 18a. An operation button 35 for selecting and manipulating the work passage S is provided in the vehicle. The operation buttons 35 corresponding to the work paths SI, S2, S3, and S4 will be referred to as S1 operation buttons 35, S2 operation buttons 35, S3 operation buttons 35, and S4 operation buttons 35. The S 1 operation button 35 and the S 2 operation button 35 are provided at both ends of the No. 1 moving shelf 1 in the X direction, and the S 3 operating button 35 is located at the No. 2 moving shelf 1 | ίί ^ ¾ S4 operation button 35 is provided at the Ιί¾Γ end position of No. 3 movable shelf 1. In addition, inside the operation panel 33 of each of the movable shelves 1, a controller (an example of control means) 36 (FIG. 6) composed of a microcomputer, and a motor control means 23 for each of the traveling and scrambling means 23 are provided. There will be an Inver Evening 37 (Figure 6) that hides 24.

As shown in Fig. 6, two moving detectors 19 on the left and right of each moving shelf 1, an approach detector 31, an operation button 35, and two members 37 are controllers of each moving shelf 1. 36, and further between the controllers 36 of the respective moving shelves 1 are connected. The controller 36 of the moving shelf 1 of No. 1 is connected to the front and rear approach detectors 31 and the subsequent S 1 and S 2 operation buttons 35. In the sleep of the motor 24, the controller 36 outputs the motor signal (speed command value including the forward signal) to the two members 37 from each controller 36, and responds to this motor drive signal. This is done by operating each member 37. As a result, the movable shelf 1 is reciprocated, and the difference in ΔS between the left and right motors 24 eliminates the width deviation of the movable shelf 1 and corrects the attitude of the movable shelf 1 (details are locked) ). As shown in FIGS. 1 and 3, the horizontal cable arm 39 is used to supply power to the inverter 37 and the controller 36, and to transfer signals between the controller 36 and the like. 1 and between the movable shelves 1.

In addition, as shown in FIGS. 1 and 2, a power supply box 41 for shelf equipment is provided in front of the rear panel 5. As shown in Fig. 6, this power supply box 41 has an overcurrent for the mobile rack power supply connected to the commercial power line (corresponding to the horse power source of each mobile rack 1). An interrupter (breaker) 42, a control power supply unit (mt) that supplies control power to the controller 36 of each moving shelf 1, and a control power supply breaker (breaker) connected to this control power supply unit. S) power and control power are supplied to each mobile shelf 1 via these breakers 4 2 and 4 3 and the horizontal cable arm 39.

The detection principle of the movement detector 19 will be described with reference to FIG.

As described above, the pair of movement detectors 19 are disposed at both ends in the left-right direction B at the center of the moving shelf 1 in the front-rear direction Α, and are mounted on the connecting member 18 c at the center of the lower frame 18. ing. As shown in FIG. 7 (a), the motion detector 1 9, light emitting diodes (£ _0; ¾) An example of a ¹ 6 means) 5 1, the lens 5 2, an imaging device (C CD; imaging means One example) 53, a distance detector (an example of a distance detecting means) 54, a photo sensor, an example of an eclipse means 55, an adjusting circuit (an example of an adjusting means) 56, and a control power circuit 5 Consists of seven.

The light emitting diode 51 is moved obliquely in a direction of 100 s per second so as to coincide with the traveling direction A of the light shelves 1 on the floor 2 on which the moving shelves 1 are arranged. Irradiate pulsed light L about 10,000 times.

The lens 52 condenses the pulse light L emitted from the diode 51 and reflected from the floor 2.

The image sensor 53 receives the pulse light L emitted by the lens 52 and captures an image of the minute protrusion 2 a or the recess 2 b of the floor 2.

The light emitting diode 51 and the lens are arranged such that the angle δ formed by the light emitted by the light emitting diode 51 and the pulse light L received by the imaging device 53 via the lens 52 is approximately 90 degrees. The mounting positions of 52 and the image sensor 53 are adjusted.

The photo sensor 5 5 has the illuminance of the floor 2 on which the moving shelf 1 is placed (the moving detector 19 is Illuminance of the floor 2 at the location where the light was applied.

The adjustment circuit 56 supplies a current to the light emitting diode 51 so that the intensity of the Norse light L generated by the imaging element 53 is constant based on the illuminance of the floor surface 2 detected by the photo sensor 55. Control the value and adjust the five boats illuminated by the diode 51. The control power supply circuit 57 is connected to a control power supply (FIG. 6), adjusts the voltage to a predetermined voltage, and returns to the distance detector 54 and the adjustment circuit 56.

As shown in FIG. 7 (b), the distance detecting device 54 applies the image signal of the image sensor 53 at a preset signal level (threshold value) to the light-dark pattern (fine protrusion 2). a or the concave portion 2 b forms a B shading pattern). Then, the position of the pixel D of the imaging element 53 which detects the protrusion 2a or the recess 2b is stored for each time in accordance with the irradiation of the pulse light L, and the movement along the traveling direction A is performed. The direction of the pixel D moving in the opposite direction ^^ is tracked, and the distance X !, the distance that the food extractor 54 has moved every predetermined time t, X and y (the distance between the pixels D is preset. ) And outputs it to the controller 36 together with the synchronization signal s. The interval between the pixels D is about 50 am or less. Since the pixel D of the CCD that detects the protrusion 2a or the concave portion 2b by irradiating the pulse light is followed, the image sensor 53 Even if a tilt occurs on the plane, there is no problem in output accuracy.

Thus, light is emitted from the light emitting diode 51 to the floor surface 2 obliquely along the traveling direction A of the movable shelf 1, and the light reflected from the floor surface 2 is reflected by the image sensor 53. Then, a minute protrusion 2a or a recess 2b of the floor 2 in a long range in the traveling direction A is imaged, and a minute protrusion 2a or a recess of the floor 2 imaged by the image sensor 53. 2 b position (pixel The movement of D) is tracked by the distance detector 54, and the movement distance X in the traveling direction A and the movement distance y in the left direction B per unit time t are obtained.

The adjustment circuit 56 adjusts the bow of the light emitted by the light-emitting diode 51 based on the illuminance of the floor 2 detected by the photo sensor 55, whereby the illuminance of the floor 2 is adjusted. However, the illuminance (brightness or darkness) of the minute projections 2a or the recesses 2b of the floor surface 2 is kept constant, and the intensity of light received by the image sensor 53 is kept constant.

The operation of the controller 36 of the moving shelf 1 will be described with reference to the control block diagrams of FIGS.

As shown in FIGS. 8 and 9, the controller 36 includes a simultaneous operation section 60, a control section 61, first counters 62L, 62R, and right and left 謝数数大离街寅算.咅 6 3 L, 6 3 R, 2nd counters 6 4 L, 6 4 R, left and right ί Big 咅 5 L, 65 R, arithmetic 咅! 566, average performance: part 6 7 And a plurality of logic circuits.

The first counter 62 L on the left counts the distance per unit time input from the left motion detector 19 every time the synchronization signal s of the left motion detector 19 is input to the controller 36. The first counter on the right 6 2 R is the distance X per unit time input from the right movement detector 19 every time the synchronization signal s of the right movement detector 19 is input to the controller 36. Xie number巨離Torasan unit 6 3 L of the left that counts, from the count value of the first counter 6 2 L, calculates the movement distance X _L before and after the position of the motion detector 1 9. Right before徽巨Hanaretora calculation unit 6 3 R, from the count value of the first counter 6 2 R, to crane movement distance X _R before and after the position of the motion detector 1 9.

The second counter 64 L on the left counts the distance y per unit time input from the left motion detector 19 every time the synchronization signal s of the left motion detector 19 is input.

The second counter 64 R on the right counts the distance y per unit time input from the right motion detector 19 every time the synchronization signal s of the right motion detector 19 is input.

The left and right distance unit 65 _L calculates the left and right moving distance Y _L of the position of the movement detector 19 from the count value of the second counter 64 _L.

Right Distance city鎮部6 5 R of the right, from the count value of the second counter 6 4 R, calculates the movement distance Y _R of the left and right position of the motion detector 1 9.

MM & 6 is calculated by the right 腳腳離部 calculation unit 6 3 R from the travel distance X _{L of} the left evacuation device 19 calculated by the left 左離離 calculation unit 6 3 _L. And the travel distance of the right movement detector 19 to determine the travel distance deviation (the left lead is positive).

The average value calculating section 67 is performed by the moving distance Y _{L of the} left movement detector 19 calculated by the left and right distance calculating section 65 _L and the right and left distance calculating section 65 R: The average value of the moving distance Y _R of the right movement detector 19 is craneed to determine the amount of left and right displacement from the running fiber (the displacement in the left direction is positive).

Thus, the absolute coordinates (X _L , Y _L ) of the left movement detector 19, the absolute coordinates (X _R) Y _R ) of the right movement detector 19, the above-mentioned travel distance deviation, and the deviation The amount is obtained from the detection signals (distances X and y and synchronization signal s) of the left and right movement detectors 19. The operator operates the S2, S3, and S4 operation buttons 35 except for the SI operation button 35, and puts each S for the operator in front of the movable shelf 1 where the operation button 35 is operated. In order to form the moving shelf 35, the moving shelf 1 on which the operating point 35 was operated and the moving shelf 1 on the obstructing side from the moving shelf 1 are moved backward, and the operating point 35 is All moving shelves 1 ahead of the operated moving shelves 1 need to be advanced. Also, when the S 1 operation button 35 is operated, all the moving shelves 1 need to be advanced in order to form a working path S 1 behind the moving shelves 1 of No. 1 fiTT. Further, when at least two operation buttons 35 are operated at the same time, it is necessary to judge that the operation is an illegal operation and lock (stop) the movement of the movable shelf 1.

Therefore, when the operation command of the S 2, S 3, and S 4 operation buttons 35 excluding the S 1 operation button 35 is input to the controller 36 of each moving shelf 1, while the operation command is input, other movements are performed. Outputs the in-operation signal of the operation button 3 5 to the controller 3 6 of the shelf 1 and outputs the «command to the controller 36 of all the mobile shelves 1 on the rear side, and all the mobile shelves on the Ιΐί ^ side. The forward command is output to controller 36 of 1. Also, when the operation command of the S 1 operation button 35 is input to the controller 36 of the moving shelf 1 of No. 1, while the operation command is being input, the controller 3 6 of the moving shelf 1 on the Ιΐί ^ side is input. Outputs the in-operation signal of the operation button 35 and outputs the forward command.

The simultaneous operation output section 60 transmits an operation signal (operation signal command) of the operation button 35 of the moving shelf 1 provided with the controller 36 and an operation signal from another controller 36 for a predetermined time. Then, a combination of signals during operation of the two operation buttons 35 is further formed. Then, the logical product (AND) of the operation signals of the two operation buttons 35 held for a predetermined time for each combination is calculated. The output is obtained by taking the logical sum (OR) of the outputs of these logical products. As a result, whether at least two of the operation buttons 35 are operated at substantially the same time is determined (evaluated) and output.

The body control unit 61 receives the difficult command to lock, the mileage deviation, the shift amount, and the forward command, and corrects the attitude of the movable shelf 1 based on the mileage deviation so as to eliminate the shift amount. The speed of the motor 24 is set to be different from the speed and output.

Also, when the operation command of the operation port 35 or the backward i command is input to the OR circuit from the controller 36 of the moving shelf 1 in front, the controller of the moving shelf 1 adjacent to the rear is controlled by the AND circuit. 36 If the key stop command (碰）) is not input from 6 and the output of the simultaneous operation unit 60 is ON (ON when it is determined that at least two operation buttons 35 are operated at the same time) Check if there is any. Then, the controller 3 of the adjacent moving shelf 1 3 6 Inputs the key stop command and does not input. When the output of the simultaneous monk feeding unit 60 is not on, the AND circuit sends the speed control unit 61 to i ^ Output t command.

Upon input of the key command, the control unit 61 sets two speed cranes 24 and 24 in accordance with the mileage deviation and the amount of deviation, and sends the two inno 37 and 37 to the key side. Outputs the motor dark signal (speed value). In the moving shelf 1, each motor 24 is locked by the two impellers 37 on the difficult side, so the moving shelf 1 is locked while eliminating the deviation and the amount of deviation.

Then, when the AND circuit inputs a key stop command from the controller 36 of the moving shelf 1 adjacent to, the key command to the wisteria controller 61 is turned off, and the moving shelf 1 is stopped. Also input the operation command of the operation button 35 or move the controller 36 of the moving shelf 1 of » When a hard stop command is input, or when the output of the simultaneous operation unit 60 is on, a reverse command is not output to the speed control [56 1] 1 remains stopped. Also, only while the operation command of the operation button 35 is being input or the key command is being input from the controller 36 of the moving shelf 1 ahead, the key command to the When the operation command of the control unit 35 and the vertical command from the controller 36 of the moving shelf 1 of Ιίί ^ are turned off, the ί¾1 command to the speed control unit 61 is turned off, and the moving shelf 1 is stopped.

When a forward command is input from the controller 36 of the rear moving shelf 1 to the R circuit, the AND circuit detects whether the approach detector 31 is operating or the output of the force simultaneous operation 1 output unit 60 is output by the AND circuit. Check if it is turned on. When the output of the simultaneous simultaneous operation unit 60 is not on, the AND circuit outputs a forward command to the control unit 61 and the speed control unit 6 1 When a forward command is input, the speed controller 61 corrects the attitude of the moving shelf 1 and sets the speed difference between the two motors 24 so as to eliminate the amount of displacement. Outputs the signal to indicate that the motor is going to move forward on March 37. Since each motor 24 is driven to the forward side by two inverters 37, the moving shelf 1 moves forward while eliminating the traveling distance deviation and the amount of deviation.

And approach detector 3

6 The forward command to 1 is turned off, and moving shelf 1 is stopped. Also, when a forward command is input from the controller 36 of the moving shelf 1 and the proximity detector 31 is operating or the output of the simultaneous operation detector 60 is on. Then, the forward command is not output to the speed control unit 61, and the moving shelf 1 remains stopped. Also, only while the forward command is being input from the controller 36 of the rear moving shelf 1, a forward command to the speed controller 61 is formed, and the forward command from the controller 36 of the rear moving shelf 1 is turned off. Then, the forward command to the speed control unit 61 is turned off, and the moving shelf 1 is stopped. When the proximity detector 31 operates, the key stop command is output to the controller 36 of the movable shelf 1 adjacent to the fj ^ side.

Also, as described above, when the output of the simultaneous operation output unit 60 is ON, that is, when two or more operation buttons 35 are operated almost simultaneously (incorrect operation), the difficult command and the forward command are Neither is output, and moving shelf 1 remains stopped.

In addition, in the controller 36 of the moving shelf 1 of No. 1, when the operation signal of the S 1 operation button 35 is input, as described, the forward command is sent to the controllers 36 of all the moving shelves 1 on the »side. Outputs a signal during operation, and the proximity detector 3 1 on the 1 »side! ! J When not working, a forward command is output to the speed controller 61.! In the controller 36 of the moving shelf 1 of No. 1, when the rear approach detector 31 is turned 1¾, the key command is turned off and the haze of the moving shelf 1 is stopped. The operation signal of the S1 operation button 35 is input to the simultaneous operation 1 feeding unit 60. FIG. 10 shows a detailed block diagram of the speed control unit 61.

As shown in FIG. 10, the ¾Jt control unit 61 includes a relay RY-F, a relay RY-B, a relay RY-S, a setting unit 71, a first function unit 72, and a second function unit 72. Function part 73, first comparator 74, relay RY-P, third function part 76, fourth function part 77, second refuge 7 8 , A first lower limiter 79, a third «^ 80, a second lower limiter 81, a second comparator 82, an off-delay timer 83, and a plurality of logic circuits. .

Relay RY-F operates when a forward command is input.

Relay RY-B is activated when a fiber command is input.

The relay RY-s operates when neither the forward command nor the key command is input, that is, when the stop command is issued.

In the speed setting device 71, a predetermined traveling speed of the moving shelf 1 is set.

The first function part 72 selects (inputs) the mileage deviation input from the above ii ^ 66 when the key off-delay timer 83 is off, and turns on the timer 83 It is configured so that when there is no distance deviation (deviation = 0), it is selected (input), and the speed correction amount of the left driving wheel 2OA is obtained based on the selected (input) deviation. When the deviation exceeds a predetermined value (dead band) and becomes positive, a positive 3ί2 ネ is output in proportion.

The second function unit 73 selects (inputs) the mileage deviation or no giant deviation deviation (deviation = 0) by the operation of the off-delay timer 183 as in the first function unit 72. Calculate the speed correction amount for the right horse riding type 2 OA. When the deviation exceeds a predetermined value (dead band) and becomes negative, a positive speed correction amount is output in proportion.

The first comparator 74 selects (inputs) the mileage deviation or no great deviation deviation (deviation = 0) by the operation of the off-delay timer 83 as in the first function section 72. If the deviation exceeds a predetermined amount of plus or minus (dead band), This function is activated when the 賴 correction amount is output from the first function part 72 or the second function part 73 and the moving shelf attitude correction control (tilt correction control) is executed. The relay RY-P operates by the operation of the first comparator 74.

The third function section 76 selects (inputs) the deviation amount output from the average value section 67 when the relay RY-P does not operate, and the relay RY-Ρ is generated. In this case, it is configured to select (input) no width shift (shift amount = 0), and determine the speed compensation of the left horse-powered running life 2 OA based on the selected shift amount. In addition, when the deviation exceeds a predetermined amount (dead band) of plus (width deviation to the left) and becomes positive, the positive

31 Outputs the correction amount. In the fourth function section 77, the displacement amount or no displacement (displacement amount = 0) is selected (λ force) by the operation of the relay RY-P as in the third function section 76, and the right horse is hidden. Riot 2 0

Find the speed correction amount of Α. When the deviation exceeds the negative predetermined amount (dead band) and becomes negative, a positive speed correction amount is output in proportion. The second «^ §§78 is a positive one-pass correction output from the first function part 72 and the third function part 76 based on the predetermined traveling speed of the moving shelf 1 set by the setting device 71. Subtract the amount to find the speed command value for the left horse-powered 2OA. The first lower limiter 79 guarantees a minimum by limiting the lower limit of the speed limit value of the left j, which is obtained from the second decrement §78, to the minimum, and this output is Operation of relay RY-F

(ON by forward command) selects the 指令 command value of left driving vehicle 喻 20 A whose lower limit is limited. The lower limit is set by the operation of relay RY-B (ON by key command). Restricted left horse-powered running wheel 2 OA is set to a negative value and negative value is selected. By operation of relay RY-S (turned on by stop command), left-handed sleep driving $ 1 Lun 2 OA The speed command value "0" is selected as the force S, and is configured to output the speed command value to the left inverter 37. The third 380 is set in the body setting device 71. The speed correction amount output from the second function unit 73 and the fourth function unit 77 from the predetermined traveling of the movable shelf 1 is used to determine the speed comfort command value of the right horse sleep type traveling 2 OA.

The second lower limiter 81 limits the lower limit of the speed command value of the OA by guaranteeing the lower limit of the speed command value of the right horse obtained from the third 80, and this output is output from the relay RY-F. The right (Sleep-type driving life of 20 A) with this lower limit restricted by the operation (turn on by forward command) is selected. The lower limit is restricted by the operation of the relay RY-B, which is turned on by a key command. (On by stop command), the fine command value "0" of the right fiber type running life 2OA is selected, and the speed command value is output to the right inverter 37. The second comparator 82 operates when the shift amount input from the average bin block 67 to the control unit 61 exceeds a predetermined plus or minus amount (dead band of the function units 76 and 77). ί ^ "

The off-delay timer 83 operates by the operation of the second comparator 82. When the command value is plus, the command value of the forward movement i is shown, and when the command value is minus, the key speed command value is shown. With the configuration of the speed control unit 61, normally, when a forward command or a key command is input to the bacteria control unit 61, based on the travel distance deviation between the left and right ends provided with the movement detector 19, The speed J i of the two motors 24 is set so that this traveling distance deviation is eliminated, that is, the attitude of the moving shelf 1 is perpendicular to the traveling and crane i. The mobile shelf attitude control that outputs the command is executed. Then, when the shift amount in the left ¾ ^ direction reaches a predetermined amount and the second comparator 82 operates, the speed of the two motors 24 is adjusted so that the shift amount is eliminated in preference to the moving shelf attitude control.棚 The moving shelf width deviation correction control for outputting a quick comfort command value provided with ^ is executed. When the shift amount in the left-right direction falls within the ff fixed amount by the moving shelf width shift correction control, the moving shelf attitude control is executed again after a time set by the timer.

The operation of the equipment configuration will be described. Now, as shown in FIG. 2, it is assumed that a work passage S 3 is formed between the moving shelves 1 of No. 2 and No. 3. At this time, the respective approach detectors 31 of the moving shelf 1 of No. 1 and the approach detector 31 of the moving shelf 1 of No. 3 are operating (ON).

Thus, the worker performs the work by opening the work passage S 02. The worker first confirms that there is no one in the work passage S3 and operates the S2 operation button 35 of the moving shelf 1 of No. 1 ". In response to the S2 operation button 35, the controller 36 itself outputs a difficult command to the controller 36 of the moving shelf 1 of the No. 1 of the shelf, and outputs No. 2 and No. A forward command is output to the controller 36 of the moving shelf 1 of No. 3. At this time, the No. 1 detector 31 of the moving shelf 1 of the No. 1 is turned on. 1 moving shelf 1 remains stopped without ^ 1 Further, since the approach detector 31 of the moving shelf 1 of No. 3 is turned on, the moving shelf 1 of No. 3 remains stopped without moving forward.

Also, the moving shelf 1 of No. 2 starts moving forward. While the operator is operating the S2 operation button 35, a command is output to the controller 36 of each moving shelf 1 and the command is turned off when the operator stops operating the S2 operation button 35. And the moving shelf 1 of No. 2 stops.

While the moving shelf 1 of No. 2 is moving forward, the traveling distance deviation and the amount of deviation are input to the control unit 61, so that the posture of the moving shelf 1 is corrected by the traveling distance deviation as described above.または J of the two motors 24 is controlled so as to cancel the deviation.

When the moving shelf 1 of No. 2 moves forward and the proximity detector 31 of the moving shelf 1 of No. 2 is turned on, the forward command is turned off, and the moving shelf 1 of No. 2 o. Stop by moving shelves 1 of 3 and ίPrivate S2 is released. In addition, a viewing stop command is output from the controller 36 of the moving shelf 1 of No. 2 to the controller 36 of the moving shelf 1 of No. 3. When the work 舰 S2 is formed, the worker enters each work shore S2 and performs an article handling work.

When the operator stops the operation of the operation button 35 and the operation command is turned off, the forward command and the ί key command to the m control unit 61 (inverter 37) are turned off, and the moving shelf 1 is turned off. Stopped. In this way, by stopping the operation of the operation button 35 during the movement of the moving shelf 1 and stopping the movement of the moving shelf 1, the passage of S2 or S3 where an operator can arbitrarily enter is formed. You can also. Also, while the work S is being formed, the multi-action shelf 1 is stopped and, for example, the S 2 path or the S 3 path is formed, the operation button 3 5 In response to the operation, the moving direction of the moving shelf 1 to be moved in accordance with the working passage S to be opened is determined, and the speed control unit 61 (the impeller 37) is controlled by the determined moving direction. Thus, a desired work piece S can be formed.

As described above, according to the present embodiment, the movement distance X in the front-rear direction A and the movement in the left-right direction B per unit time detected by each (left-right direction) movement detector 19 of each moving shelf 1 From the distance y, the absolute coordinates of the position of each transfer device 19 (to the left) of each moving shelf 1, that is, (X _LJ Y _l ) and (X _R , Y _R ) are obtained. Then, the displacement of the moving shelf 1 in the left-right direction B from the traveling total i of the moving shelf 1 is corrected based on the deviation amount of the absolute coordinates in the fefe ^ direction due to the traveling of the moving shelf 1, thereby obtaining the width of the moving shelf 1. The deviation correction control can be executed accurately. In addition, based on the displacement of the yarn 舰 coordinates in the traveling direction (ie, deviation of the traveling distance), the deviation of the traveling direction at the position of each movement detector 19 (ie, the inclination of the attitude of the moving shelf 1) is changed in the front-back direction. By being corrected so as to be perpendicular to A, the posture control of the movable shelf 1 can be accurately performed. Furthermore, there is no need for a conventional object (magnetic tape 91, etc.) to be laid along running i and a detector (magnetic sensor 93, etc.) to detect this object, reducing costs. Can be.

Further, according to the present embodiment, the adjustment circuit 56 adjusts the intensity of light received by the image sensor 53 based on the illuminance of the floor surface 2 detected by the photosensor 55 so as to be constant. Then, the current value flowing to the light emitting diode 51 is controlled. As described above, by adjusting the の ^ of the light emitted by the diode 51, even if the illuminance of the floor surface 2 is reduced, the brightness of the fine protrusions 2a or the concave portions 2b of the floor surface 2 is increased. Can be kept constant. Therefore the imaging element Even if the threshold value for scanning the image signal of the child 5 3 is a fixed value, there is a possibility that the fine protrusion 2 a or the concave portion 2 b of the floor surface 2 may or may not be determined due to the brightness (illuminance). It is possible to avoid this, form a stable light and dark pattern, and stably track the protrusion 2a or the recess 2b. Further, detection errors can be reduced.

Further, according to the present embodiment, light L radiated obliquely from light emitting diode 51 to floor 2 is reflected by approximately 90 degrees on floor 2, and is emitted to imaging element 53. As a result, the light L reflected by the floor 2 is most efficiently received by the image sensor 53, and the light used by the imaging means and the minute projections 2 a or recesses 2 b of the floor 2 allow the image sensor 53 The difference between the light and the light is clear. Therefore, it is possible to improve the accuracy of detecting the minute protrusion 2a or the recess 2b of the floor surface 2.

Further, according to the present embodiment, the direction of light L emitted from light emitting diode 51 coincides with the traveling direction (movement A) of moving shelf 1 so that the traveling direction of moving shelf 1 (front-rear direction A ), The minute protrusions 2a or recesses 2b of the floor 2 are detected upon detection in a long range, so that the force S for smoothing the detection of the moving distance X in the traveling direction can be obtained.

In this embodiment, the width shift correction control and the attitude control of the movable shelf 1 are executed. However, the travel shift of the movable shelf 1 from the target travel position is corrected, that is, the position control of the movable shelf 1 is performed. It can also be done. At this time, it seeks Ze' moving distance of the movable shelf 1 the average value of the absolute coordinates X have X _R of Shahishi direction A position of each mobile detector 1 9, target moving distance to the target traveling position is set Then, a deviation between the set value and the absolute moving distance of the moving shelf 1 is obtained, and a wisteria command value is output to the inverter 37 so that the deviation becomes "0". . Further, in the present embodiment, the movement detectors 19, which are movement detecting means, are provided at both ends of the moving shelf 1 in the left-right direction B, but are not limited to both ends and are arranged in the left-right direction B. The number of movement detectors 19 is not limited to two, but more movement detectors 19 are provided on the moving shelf 1, the absolute coordinates of these moving detectors 19 are obtained, and the width deviation correction control of the moving shelf 1 is performed. Orientation control or position control may be executed.

Further, in the above-described embodiment, a plurality of movable shelves 1 are arranged between the fixed shelves 5 before and after the shelf equipment. However, a plurality of movable shelves 1 are arranged between the fixed shelves 5 before and after such. The above configuration may be regarded as one block, and the configuration of a shelf facility including a plurality of blocks may be employed. Also, a configuration in which a space for the work passage S is secured between the walls and a plurality of movable shelves 1 are arranged (a configuration without the fixed shelves 5 on both sides, or a configuration without the fixed shelves 5 on both sides). Is also good.

Further, in the present embodiment, the power supply box 41 is provided on the fixed shelf 5, but the present invention is not limited to the fixed shelf 5, but may be a movable shelf 1 or a wall of a warehouse or the like in which the shelf equipment is installed. A power supply box 41 can also be provided for the vehicle.

Further, in the present embodiment, a photoelectric switch is used as the approach detector 31. However, the approach detector 31 is not limited to the photoelectric switch, and any device that can detect the approach of the movable shelf 1 or the fixed shelf 5 may be used. For example, a magnetic sensor or the like may be used. When a magnetic sensor is used, a magnet or other device that generates a magnetic force is attached to the surface of the movable shelf 1 or the fixed shelf 5 facing the magnetic sensor. In the present embodiment, the article storage section 14 is attached to a forklift or the like. Cargo handling vehicle G: Assuming that it will be installed in a warehouse that handles more goods F, Although the type in which the product F is placed and stored is used, the type in which the product F and the case are directly placed and stored may be used, for example, assuming that the product F is installed in an office.

Further, in the present embodiment, the article storage section 14 is formed vertically and horizontally by the support pillar 11, the front and rear frames 12, and the left and right frames 13, but the article shelf section 14 is of such a type. Is also good. For example, a form in which the article storage portions 14 are formed in the upper, lower, left, and right directions by the columns 11 and the shelf boards 12, or a form in which only one step of the article storage sections 14 may be used.

Further, in the present embodiment, the form of traveling 20 is shown as the traveling: device, but this may be a kyatabila type (roller chain type) or the like.

Further, in the present embodiment, based on the illuminance of the floor surface 2 detected by the photo sensor 55, the adjustment circuit 56 adjusts the intensity of light emitted by the image sensor 53 to be constant, and the light emitting diode The current value to 5 1 is controlled to adjust the bow of the light illuminated by the light-emitting diode 51, but the distance excursion is based on the illuminance of the floor 2 detected by the photo sensor 55. The signal level (threshold) for binarizing the image signal of the image sensor 53 of the device 54 may be adjusted. Also with this configuration, it is possible to avoid the possibility of distinguishing or not distinguishing the minute protrusions 2a or recesses 2b of the floor 2 due to light and darkness (illuminance), thereby forming a stable light and dark pattern, and stabilizing. Thus, the protrusion 2a or the recess 2b can be tracked. In addition, detection errors can be reduced.

Claims

Sought

1. Traveling A plurality of movable shelves that can reciprocate on each traveling device are arranged via a temple device. A work passage opened between the moving shelves is used. Shelf equipment for handling

(3) At least two movement detecting means for detecting the moving distance in the running direction and the moving distance in the left-right direction per unit time in the left-right direction perpendicular to the running direction along the self-running fiber of each moving shelf. Provided,

により Determine the absolute coordinates of each movement detecting means based on the moving distance in the running direction and the moving distance in the horizontal direction detected by each movement detecting means. A control means for correcting a deviation of the traveling direction of the self-moving shelf or a deviation of the traveling direction of the tins moving shelf from the traveling direction of the self-moving shelf and correcting the posture of the moving shelf to a direction perpendicular to the traveling direction or the traveling direction. To provide

Characterized by shelf equipment.

2. The shelf facility according to claim 1, wherein

The hatred movement detection means is

½ means for irradiating light obliquely to the floor where the self-moving shelf power is placed,

The light emitted from the disturbing Sg 編 means and reflected from the floor of the knitting s

[5 or imaging means for imaging the concave portion,

Tracking the movement of the position of the minute protrusion or recess on the floor imaged by the imaging means; Distance detecting means that detects the moving distance in the 走行 3 running direction and the moving distance in the left and right direction per unit time.

Having

Is assumed to be Judan.

3. The shelf facility according to claim 2, wherein

Dislike 3 Movement detection means

(Detects the illuminance on the floor where the disgusting moving shelf is placed.) ^

Adjusting means for adjusting the bow of the light emitted by the disgusting means so that the intensity of the light received by the MIS imaging means is constant based on the illuminance of the floor detected by the eating means.

Having

To one floor.

4. The shelf facility according to claim 2, wherein

The illuminating means and the self-imaging means are arranged so that the angle formed by the light emitted by the tiflSS ^ means and the light to the imaging means is approximately 90 degrees.

Is special!

5. The shelf facility according to claim 2, wherein

The ^ means is arranged such that the direction of light emitted by the disgusting means coincides with the traveling direction of the knitting moving shelf.

It is characterized by.